# -*- coding: utf-8 -*-

# Copyright 2024 PickNik Inc.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#    * Redistributions of source code must retain the above copyright
#      notice, this list of conditions and the following disclaimer.
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#    * Redistributions in binary form must reproduce the above copyright
#      notice, this list of conditions and the following disclaimer in the
#      documentation and/or other materials provided with the distribution.
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#      contributors may be used to endorse or promote products derived from
#      this software without specific prior written permission.
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import os
from pathlib import Path

import xacro
from launch import LaunchDescription
from launch_ros.actions import Node

SCRIPT_PATH = Path(os.path.realpath(__file__)).parent


def generate_launch_description():
    ros2_controllers_file = Path(SCRIPT_PATH / "ros2_controllers.yaml")
    robot_description = {
        "robot_description": xacro.process_file(SCRIPT_PATH / "rrr.urdf.xacro").toxml(),
    }
    controllers = ["joint_state_broadcaster", "joint_trajectory_controller"]
    return LaunchDescription(
        [
            Node(
                package="robot_state_publisher",
                executable="robot_state_publisher",
                name="robot_state_publisher",
                parameters=[robot_description],
            ),
            Node(
                package="controller_manager",
                executable="ros2_control_node",
                parameters=[robot_description, ros2_controllers_file],
                output="screen",
            ),
        ]
        + [
            Node(
                package="controller_manager",
                executable="spawner",
                arguments=[controller],
            )
            for controller in controllers
        ],
    )
